CN212170428U

CN212170428U - Robot clamp

Info

Publication number: CN212170428U
Application number: CN201921827574.0U
Authority: CN
Inventors: 荣俊林; 罗飞
Original assignee: Shanghai Tianyong Intelligent Equipment Co Ltd
Current assignee: Shanghai Tianyong Intelligent Equipment Co Ltd
Priority date: 2019-10-29
Filing date: 2019-10-29
Publication date: 2020-12-18
Anticipated expiration: 2029-10-29

Abstract

The utility model discloses a robot floating clamp, which comprises a clamp bottom plate, a first X-direction linear guide rail arranged on the clamp bottom plate, a fourth sliding plate and a fifth sliding plate arranged on the first X-direction linear guide rail, a first clamping plate fixed on the fourth sliding plate and a second clamping plate fixed on the fifth sliding plate; the clamp bottom plate is also provided with a floating device in the X direction; and Y-direction floating devices are oppositely arranged on the first clamping plate and the second clamping plate. The utility model provides a robot clamp has eliminated various errors on the equipment through increasing floating installation, damages product quality when avoiding assembling the product.

Description

Robot clamp

Technical Field

The utility model belongs to the technical field of the robot anchor clamps technique and specifically relates to a floating fixture of robot for industrial processing is related to.

Background

The robot jig is a device for fixing a processing object to occupy a correct position to receive construction or inspection in a machine manufacturing process. Traditional robot clamp has certain defect, and robot clamp gets puts the product and relies on positioning accuracy completely, and in actual assembling process, the robot can the repeated positioning accuracy, produces product machining tolerance to damage assembly product contact position leads to the circumstances such as gouge, bruise, side cut to take place, has reduced to press from both sides and has got the precision.

SUMMERY OF THE UTILITY MODEL

For solving foretell technical problem, the utility model provides a floating clamp of robot through the floating installation of design anchor clamps system in X direction, Y direction for anchor clamps have the unsteady function in the certain limit, thereby eliminate the error after the anchor clamps clamp of robot gets the product, improve product assembly quality.

The utility model discloses realize according to following technical scheme: a robot floating clamp comprises a clamp base plate, a first X-direction linear guide rail arranged on the clamp base plate, a second sliding plate and a third sliding plate arranged on the first X-direction linear guide rail, a first clamping plate fixed on the second sliding plate and a second clamping plate fixed on the third sliding plate; the bottom of the clamp bottom plate is also provided with an X-direction floating device; and Y-direction floating devices are oppositely arranged on the first clamping plate and the second clamping plate.

Further, the floating installation of X direction includes X direction cylinder, first bolt, first round pin cover, second X direction linear guide, first slide and first position sleeve, wherein: the first sliding plate is arranged on the second X-direction linear guide rail; the first pin sleeve is embedded into the first sliding plate; the left end of the first positioning sleeve is inserted into the second pin sleeve, and the right end of the first positioning sleeve is fixedly connected with the X-direction cylinder; a first bolt is movably embedded in the first positioning sleeve and is in inserted connection with the first pin sleeve in a locking fit; the first bolt is connected with the X-direction cylinder through a first floating joint in the first positioning sleeve.

Further, a first oilless bushing is sleeved in the first positioning sleeve.

Further, when a first bolt of the floating device in the X direction is in a retraction state, a single side of a floating gap between the first bolt and the first pin sleeve is 1mm.

Furthermore, the Y-direction floating device arranged on the first clamping plate comprises a first Y-direction cylinder, a second bolt, a second pin sleeve, a first Y-direction linear guide rail, a second sliding plate and a second positioning sleeve, and the left end of the second positioning sleeve is fixedly connected with the first Y-direction cylinder; the right end of the second positioning sleeve and the opening of the first clamping plate form a through hole for the second bolt to move; the second bolt is connected with the first Y-direction cylinder through a second floating joint in the through hole of the second positioning sleeve; the second pin sleeve is embedded into the second sliding plate and is in inserted locking fit with the second plug pin; a first Y-direction linear guide rail is arranged on the first clamping plate; the second sliding plate is installed on the first Y-direction linear guide rail.

Furthermore, a second oilless bushing is sleeved in a through hole formed by the right end of the second positioning sleeve and the hole of the first clamping plate.

Furthermore, when a second bolt of the Y-direction floating device on the first clamping plate is in a retraction state, the single side of the floating gap between the second bolt and the second pin sleeve is 1mm.

Furthermore, the Y-direction floating device arranged on the second clamping plate comprises a second Y-direction cylinder, a third bolt, a third pin sleeve, a second Y-direction linear guide rail, a third sliding plate and a third positioning sleeve, and the right end of the third positioning sleeve is fixedly connected with the second Y-direction cylinder; the left end of the third positioning sleeve and the hole of the second clamping plate form a through hole for the third bolt to move; the third bolt is connected with the second Y-direction cylinder through a third floating joint in the through hole of the third positioning sleeve; the third pin sleeve is embedded into the second sliding plate and is in inserted connection with the third plug pin in a locking fit; a Y-direction linear guide rail is arranged on the second clamping plate; and the third sliding plate is arranged on the Y-direction linear guide rail.

Furthermore, a third oilless bushing is sleeved in a through hole formed by the first end of the third positioning sleeve and the opening of the second clamping plate.

Furthermore, when a third bolt of the Y-direction floating device on the second clamping plate is in a retraction state, the single side of the floating gap between the third bolt and the third pin sleeve is 1mm.

Furthermore, the second sliding plate and the third sliding plate are provided with opposite ejection columns, at least two ejection columns are arranged on each sliding plate, and the head of the ejection column on the second sliding plate is matched with the head of the ejection column on the third sliding plate in shape.

The utility model discloses technical scheme is for prior art's beneficial effect:

1. thereby there is the problem of repeated location error production when current robot anchor clamps use, the utility model discloses a set up floating installation and eliminate various errors to guarantee the quality of assembly product.

2. The utility model discloses a when the unsteady anchor clamps of robot had clamped the product, the bolt action targets in place, inserts pinhole accurate positioning, has avoided a lot of location to produce the error, shortens work flow.

3. The utility model discloses a floating fixture of robot overall structure is simple compact, can be applicable to power assembly trade the overwhelming majority of robot fixture use occasion, realizes snatching the accurate control of operation to the product, effectively improves production efficiency and product quality.

Drawings

Fig. 1 is a front view of a floating fixture of a robot in an embodiment of the present invention.

Fig. 2 is a schematic perspective view of a floating fixture of a robot in an embodiment of the present invention.

Fig. 3 and 4 are schematic sectional structural views of the floating device in the X direction in fig. 1, fig. 3 is a schematic sectional structural view of the cylinder in an extended state, and fig. 4 is a schematic sectional structural view of the cylinder in a retracted state.

Fig. 5 and 6 are schematic cross-sectional views of the Y-direction floating device on the first clamping plate in fig. 1, fig. 5 is a schematic cross-sectional view of the cylinder in an extended state, and fig. 6 is a schematic cross-sectional view of the cylinder in a retracted state.

Fig. 7 and 8 are schematic sectional structural views of the Y-direction floating device on the second clamping plate in fig. 1, fig. 7 is a schematic sectional structural view of the cylinder in an extended state, and fig. 8 is a schematic sectional structural view of the cylinder in a retracted state.

The specific implementation mode is as follows:

the present invention will be further described with reference to the accompanying drawings and specific embodiments, but the present invention is not limited thereto.

In the description of the present embodiment, it is to be understood that the terms "left", "right", "X direction", "Y direction", "upper", "lower", and the like indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience of description and simplification of description, but do not indicate or imply that the device or element referred to must have a specific orientation, be constructed in a specific orientation, and be operated, and thus should not be construed as limiting the present invention. Furthermore, the terms "first," "second," "third," and the like are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.

Referring to fig. 1 and 2, a robot floating clamp includes a clamp base plate 3, a first X-direction linear guide 13 mounted on the clamp base plate, a fourth sliding plate 30 and a fifth sliding plate 31 mounted on the X-direction linear guide 13, a first clamping plate 1 fixed on the fourth sliding plate 30, and a second clamping plate 2 fixed on the fifth sliding plate 31; the bottom of the clamp bottom plate 3 is also provided with a floating device in the X direction; the first clamping plate 1 and the second clamping plate 2 are relatively provided with floating devices in the Y direction.

In this embodiment, two parallel first X-direction linear guide rails 13 are mounted on the fixture base plate 3, and the fourth sliding plate 30 and the fifth sliding plate 31 are mounted on the two X-direction linear guide rails 13 in a crossing manner; the first clamping plate 1 is fixed to the fourth slide plate 30 by bolts, and the second clamping plate 2 is fixed to the fifth slide plate 31 by bolts.

In this embodiment, the first clamping plate 1 and the second clamping plate 2 are relatively installed on two sides of the fixture system, a first Y-direction linear guide rail 11 is installed at the front portion of the first clamping plate 1, the second sliding plate 6 is installed on the guide rail 11, and 4 support pillars are arranged on the second sliding plate; the front part of the second clamping plate 2 is provided with a second Y-direction linear guide rail 12, the third sliding plate is arranged on the second Y-direction linear guide rail 12, the third sliding plate is provided with 4 corresponding top pillars on the second sliding plate, and the head of the top pillar on the second sliding plate 6 is matched with the head of the top pillar on the third sliding plate 7 in shape.

According to the design of the structure, when the robot clamp system clamps a product, the first clamping plate 1 and the second clamping plate 2 move oppositely on the X-direction linear guide rail 13 to clamp the product, and the product is clamped and fixed through the jacking columns which are designed in a matching way on the first clamping plate 1 and the second clamping plate 2.

In this embodiment, the floating device in the X direction includes an X direction cylinder 9, a first bolt 16, a first pin sleeve 15, a second X direction linear guide rail 10, a first sliding plate 8 and a first positioning sleeve 18, wherein: the second X-direction linear guide 10 is mounted at the bottom of the jig base plate 3; the first sliding plate 8 is arranged on the second X-direction linear guide rail 10; the first pin sleeve 15 is embedded in the first sliding plate 8; the left end of the first positioning sleeve 18 is inserted into the first pin 15 sleeve, and the right end of the first positioning sleeve 18 is fixedly connected with the X-direction cylinder 9; a first bolt 16 is movably embedded in the first positioning sleeve 18, and the first bolt 16 is in inserted connection with the first pin sleeve 15 in a locking way; the first bolt 16 is connected to the X-direction cylinder through a first floating joint 17 in the first positioning sleeve 18.

In this embodiment, the Y-direction floating device includes two parts, i.e., a Y-direction floating device on the first clamping plate 1 and a Y-direction floating device on the second clamping plate 2.

The Y-direction floating device arranged on the first clamping plate 1 comprises a first Y-direction cylinder 4, a second bolt 23, a second pin sleeve 24, a first Y-direction linear guide rail 11, a second sliding plate 6 and a second positioning sleeve 20, wherein the left end of the second positioning sleeve 20 is fixedly connected with the first Y-direction cylinder 4; the right end of the second positioning sleeve and the hole of the first clamping plate 1 form a through hole for the second bolt 23 to move; the second bolt 23 is connected with the first Y-direction cylinder 4 through a second floating joint 22 in the through hole of the second positioning sleeve 20; the second pin sleeve 24 is embedded into the second sliding plate 6 and is in inserted connection with the second plug pin 23 in a locking fit; a first Y-direction linear guide rail 11 is arranged on the first clamping plate 1; the second slide 6 is mounted on the first Y-direction linear guide 11.

The Y-direction floating device arranged on the second clamping plate comprises a second Y-direction cylinder 5, a third bolt 27, a third pin sleeve 28, a second Y-direction linear guide rail 12, a third sliding plate 7 and a third positioning sleeve 25, wherein the right end of the third positioning sleeve 25 is fixedly connected with the first Y-direction cylinder 5; the left end of the third positioning sleeve 25 and the opening of the second clamping plate 2 form a through hole for the third bolt 27 to move; the third bolt 27 is connected with the second Y-direction cylinder 5 through a third floating joint in the through hole of the third positioning sleeve 25; the third pin sleeve 28 is embedded in the second sliding plate and is in inserted connection and locking fit with the third pin 27; a second Y-direction linear guide rail 12 is arranged on the second clamping plate 2; the third slide plate 7 is mounted on the second Y-direction linear guide 12.

In this embodiment, through the design of the floating device in the X direction and the Y direction, when the cylinder covers are clamped by the first clamping plate 1 and the second clamping plate 2, the proximity switches of the first Y direction cylinder 4, the second Y direction cylinder 5, and the X direction cylinder 9 are connected with the power line, so as to extend the three cylinders, and respectively enable the second plug 23 to be inserted into the corresponding second pin sleeve 24, the third plug 27 to be inserted into the corresponding third pin sleeve 28, and the first plug 16 to be inserted into the corresponding first pin sleeve 15, and the plugs and the pin sleeves are in a precise fit relationship. When a clamped product reaches a position needing assembly, the X-direction cylinder 9 drives the first bolt 16 to retract, as shown in the figure, a certain floating range is formed between the first bolt 16 and the pin sleeve 15, at the moment, the robot clamp system has a floating function in the X direction, and the single side of a floating gap is 1 mm; the first Y-direction cylinder 4 drives the second bolt 23 to retract, a certain floating range is formed between the second bolt 23 and the second pin sleeve 24, and the single side of a floating gap is 1 mm; the second Y-direction cylinder 5 drives the third bolt 27 to retract, a certain floating range is formed between the third bolt 27 and the third pin sleeve 28, the single side of a floating gap is 1mm, and therefore the robot clamp system has a floating function in the Y direction. The three cylinders operate simultaneously, so that the robot clamp system has a floating function in the vertical and horizontal directions, various errors are eliminated through floating, and the assembling quality is ensured when products are assembled.

Further, an oilless bushing is arranged in the positioning sleeve for moving each bolt, so that the abrasion of the bolt is reduced.

The above is only a preferred embodiment of the present invention, and not intended to limit the scope of the invention, and it should be appreciated by those skilled in the art that various equivalent substitutions and obvious changes made in the specification and drawings should be included within the scope of the present invention.

Claims

1. A robot clamp is characterized by comprising a clamp base plate (3), a first X-direction linear guide rail (13) arranged on the clamp base plate (3), a fourth sliding plate (30) and a fifth sliding plate (31) arranged on the first X-direction linear guide rail (13), a first clamping plate (1) fixed on the fourth sliding plate (30) and a second clamping plate (2) fixed on the fifth sliding plate (31); the bottom of the clamp bottom plate (3) is also provided with a floating device in the X direction; the first clamping plate (1) and the second clamping plate (2) are relatively provided with floating devices in the Y direction.

2. A robot clamp according to claim 1, characterized in that said X-direction floating means comprises an X-direction cylinder (9), a first bolt (16), a first pin bushing (15), a second X-direction linear guide (11), a first slide plate (8) and a first positioning bushing (18), wherein: the first sliding plate (8) is arranged on the second X-direction linear guide rail (11); the first pin sleeve (15) is embedded in the first sliding plate (8); the left end of the first positioning sleeve (18) is inserted into the first pin sleeve (15), and the right end of the first positioning sleeve (18) is fixedly connected with the X-direction cylinder (9); a first bolt (16) is movably embedded in the first positioning sleeve (18), and the first bolt (16) is in inserted connection with the first pin sleeve (15) in a locking fit; the first bolt (16) is connected with the X-direction cylinder (9) through a first floating joint (17) in the first positioning sleeve (18).

3. A robot clamp according to claim 2, characterized in that a first oilless bushing (19) is journalled in said first positioning sleeve (18).

4. A robot clamp according to claim 3, characterized in that, when the first pin (16) of the floating device in the X-direction is in the retracted state, the floating clearance of the first pin (16) and the first pin sleeve (15) is 1mm.

5. The robot clamp according to claim 4, wherein the Y-direction floating device mounted on the first clamping plate (1) comprises a first Y-direction cylinder (4), a second bolt (23), a second pin sleeve (24), a first Y-direction linear guide rail (11), a second sliding plate (6) and a second positioning sleeve (20), and the left end of the second positioning sleeve (20) is fixedly connected with the first Y-direction cylinder (4); the right end of the second positioning sleeve (20) and the opening of the first clamping plate form a through hole for the second bolt (23) to move; the second bolt (23) is connected with the first Y-direction cylinder (4) through a second floating joint (22) in a through hole of the second positioning sleeve (20); the second pin sleeve (24) is embedded into the second sliding plate (6), and the second pin sleeve (24) is in plug-in locking fit with the second plug pin (23); a first Y-direction linear guide rail (11) is mounted on the first clamping plate (1); the second sliding plate (6) is arranged on the first Y-direction linear guide rail (11).

6. A robot clamp according to claim 5, characterized in that a second oilless bushing (21) is fitted into a through hole formed by the right end of the second positioning sleeve (20) and the opening of the first clamping plate (1).

7. A robot clamp according to claim 6, characterized in that when the second bolt (23) of the Y-direction floating device on the first clamping plate (1) is in the retracted state, the floating clearance between the second bolt (23) and the second pin sleeve (24) is 1mm.

8. The robot clamp according to claim 7, wherein the Y-direction floating device mounted on the second clamping plate (2) comprises a second Y-direction cylinder (5), a third bolt (27), a third pin sleeve (28), a second Y-direction linear guide rail (12), a third sliding plate (7) and a third positioning sleeve (25), and the right end of the second positioning sleeve (20) is fixedly connected with the second Y-direction cylinder (5); the left end of the third positioning sleeve (25) and the opening of the second clamping plate (2) form a through hole for the third bolt (27) to move; the third bolt (27) is connected with the second Y-direction cylinder (5) through a third floating joint (29) in a through hole of the third positioning sleeve (25); the third pin sleeve (28) is embedded into the second sliding plate (6), and the third pin sleeve (28) is in plug-in locking fit with the third plug pin (27); a second Y-direction linear guide rail (12) is mounted on the second clamping plate (2); and the third sliding plate (7) is arranged on the second Y-direction linear guide rail (12).

9. A robot clamp according to claim 8, characterized in that a third oilless bushing (26) is fitted in a through hole formed by the left end of the third positioning sleeve (25) and the opening of the second clamping plate.

10. A robot clamp according to claim 9, characterized in that when the third pin (27) of the Y-direction floating device on the second clamping plate (2) is in the retracted state, the floating gap between the third pin (27) and the third pin sleeve (28) is 1mm.

11. A robot clamp according to claim 10, characterized in that said second sled (6) and said third sled (7) are provided with opposing studs (14), said studs (14) being at least two per sled.

12. A robot clamp according to claim 11, characterized in that the shape of the head of the stud (14) on the second slide (6) is adapted to the shape of the head of the stud (14) on the third slide (7).